#ifndef SEA_CONTROLLER_H
#define SEA_CONTROLLER_H

#include <QtGui/QMainWindow>
#include "ui_sea_controller.h"
#include "LowLevelControllerClass.h"

//#define OUTPUTLIMIT 20


class SEA_Controller : public QMainWindow
{
	Q_OBJECT

		public slots:
			void on_homeButton_clicked();
			void on_startButton_clicked();
			void on_stopButton_clicked();
			void on_neuronRecordButton_clicked();
			void targetForceSet(double value);
			void targetPositionSet(double value);
			void targetVelocitySet(double value);
			void formChangeSet(const QString & text);
			void timerOut();
			//void controlKpSet(double value);
			//void controlKdSet(double value);


		public:
			SEA_Controller(QWidget *parent = 0, Qt::WFlags flags = 0);
			~SEA_Controller();

		private:
			Ui::SEA_ControllerClass ui;
			int state;
			CLowLevelControllerClass llc;
			QTimer mainTimer;
			const Error *err;


};

#endif // SEA_CONTROLLER_H
